Lab Papers (GRASP)
Document Type
Journal Article
Subject Area
GRASP, CPS Theory
Date of this Version
7-7-2021
Publication Source
IEEE Robotics and Automation Letters
DOI
10.1109/LRA.2021.3095030
Bib Tex
@ARTICLE{9477019, author={Feshbach, Daniel A. and Sung, Cynthia}, journal={IEEE Robotics and Automation Letters}, title={Reconfiguring Non-Convex Holes in Pivoting Modular Cube Robots}, year={2021}, volume={}, number={}, pages={1-1}, doi={10.1109/LRA.2021.3095030}}
Abstract
We present an algorithm for self-reconfiguration of admissible 3D configurations of pivoting modular cube robots with holes of arbitrary shape and number. Cube modules move across the surface of configurations by pivoting about shared edges, enabling configurations to reshape themselves. Previous work provides a reconfiguration algorithm for admissible 3D configurations containing no non-convex holes; we improve upon this by handling arbitrary admissible 3D configurations. The key insight specifies a point in the deconstruction of layers enclosing non-convex holes at which we can pause and move inner modules out of the hole. We prove this happens early enough to maintain connectivity, but late enough to open enough room in the enclosing layer for modules to escape the hole. Our algorithm gives reconfiguration plans with O(n^2) moves for n modules.
Keywords
Cellular and Modular Robots, Motion and Path Planning, Computational Geometry
Recommended Citation
Daniel Adam Feshbach and Cynthia Sung, "Reconfiguring Non-Convex Holes in Pivoting Modular Cube Robots", IEEE Robotics and Automation Letters . July 2021. http://dx.doi.org/10.1109/LRA.2021.3095030
Additional Files
pivoting_cubes_2021.mp4 (6061 kB)Supplementary video showing an example reconfiguration
Included in
Artificial Intelligence and Robotics Commons, Mechanical Engineering Commons, Robotics Commons, Theory and Algorithms Commons
Date Posted: 13 July 2021
This document has been peer reviewed.